astrobee_astrobee_bridge.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef DDS_ROS_BRIDGE_ASTROBEE_ASTROBEE_BRIDGE_H_
#define DDS_ROS_BRIDGE_ASTROBEE_ASTROBEE_BRIDGE_H_
 
#include <pluginlib/class_list_macros.h>
 
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include "config_reader/config_reader.h"
 
#include "dds_ros_bridge/rapid_pub.h"
#include "dds_ros_bridge/rapid_sub_ros_pub.h"
#include "dds_ros_bridge/ros_sub_rapid_pub.h"
 
#include "dds_ros_bridge/rapid_ekf_ros_ekf.h"
#include "dds_ros_bridge/rapid_gs_data_ros_gs_data.h"
#include "dds_ros_bridge/ros_ekf_rapid_ekf.h"
#include "dds_ros_bridge/ros_guest_science.h"
 
#include "ff_msgs/ResponseOnly.h"
 
#include "ff_common/ff_names.h"
#include "ff_util/ff_nodelet.h"
 
// SoraCore Includes
#include "knDds/DdsSupport.h"
#include "knDds/DdsEntitiesFactory.h"
#include "knDds/DdsEntitiesFactorySvc.h"
 
// miro includes
#include "miro/Configuration.h"
#include "miro/Robot.h"
#include "miro/Log.h"
 
namespace kn {
  class DdsEntitiesFactorySvc;
}  // end namespace kn
 
namespace dds_ros_bridge {
 
class RosSubRapidPub;
 
class AstrobeeAstrobeeBridge : public ff_util::FreeFlyerNodelet {
 public:
  AstrobeeAstrobeeBridge();
  ~AstrobeeAstrobeeBridge();
 
  template<typename T, typename ... Args>
  int BuildRosToRapid(const std::string& name, Args&& ... args);  // NOLINT
 
  template<typename T, typename ... Args>
  int BuildRapidToRos(Args&& ... args);  // NOLINT
 
 protected:
  virtual void Initialize(ros::NodeHandle *nh);
  bool ReadParams();
  bool ReadSharedItemConf(config_reader::ConfigReader::Table &conf,
                          std::string &topic_name, bool &enable, float &rate);
 
 private:
  bool Run();
  bool Start(ff_msgs::ResponseOnly::Request& req,
             ff_msgs::ResponseOnly::Response& res);
 
  config_reader::ConfigReader config_params_;
 
  int components_;
  bool started_;
  bool run_on_start_;
 
  ros::NodeHandle nh_;
  ros::ServiceServer trigger_srv_;
 
  std::map<std::string, ff::RosSubRapidPubPtr> ros_sub_rapid_pubs_;
  std::shared_ptr<kn::DdsEntitiesFactorySvc> dds_entities_factory_;
  std::string agent_name_, participant_name_, read_params_error_;
  std::vector<ff::RapidPubPtr> rapid_pubs_;
  std::vector<ff::RapidSubRosPubPtr> rapid_sub_ros_pubs_;
};
 
}  // end namespace dds_ros_bridge
 
#endif  // DDS_ROS_BRIDGE_ASTROBEE_ASTROBEE_BRIDGE_H_